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hvkit_rev1p1/f28x/f2806x/src/hal.c
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36
37
38 // **************************************************************************
39 // the includes
40
41 // drivers
42
43 // modules
44
45 // platforms
46 #include "hal.h"
47 #include "user.h"
48 #include "hal_obj.h"
49
50 #ifdef FLASH
51 #pragma CODE_SECTION(HAL_setupFlash,"ramfuncs");
52 #endif
53
54 // **************************************************************************
55 // the defines
56
57
58 // **************************************************************************
59 // the globals
60
61 HAL_Obj hal;
62
63
64 // **************************************************************************
65 // the functions
66
67 void HAL_cal(HAL_Handle handle)
68 {
69 HAL_Obj *obj = (HAL_Obj *)handle;
70
71
72 // enable the ADC clock
73 CLK_enableAdcClock(obj->clkHandle);
74
75
76 // Run the Device_cal() function
77 // This function copies the ADC and oscillator calibration values from TI reserved
78 // OTP into the appropriate trim registers
79 // This boot ROM automatically calls this function to calibrate the interal
80 // oscillators and ADC with device specific calibration data.
81 // If the boot ROM is bypassed by Code Composer Studio during the development process,
82 // then the calibration must be initialized by the application
83 ENABLE_PROTECTED_REGISTER_WRITE_MODE;
84 (*Device_cal)();
85 DISABLE_PROTECTED_REGISTER_WRITE_MODE;
86
87 // run offsets calibration in user's memory
88 HAL_AdcOffsetSelfCal(handle);
89
90 // run oscillator compensation
91 HAL_OscTempComp(handle);
92
93 // disable the ADC clock
94 CLK_disableAdcClock(obj->clkHandle);
95
96 return;
97 } // end of HAL_cal() function
98
99
100 void HAL_OscTempComp(HAL_Handle handle)
101 {
102 HAL_Obj *obj = (HAL_Obj *)handle;
103 uint16_t Temperature;
104
105 // disable the ADCs
106 ADC_disable(obj->adcHandle);
107
108 // power up the bandgap circuit
109 ADC_enableBandGap(obj->adcHandle);
110
111 // set the ADC voltage reference source to internal
112 ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);
113
114 // enable the ADC reference buffers
115 ADC_enableRefBuffers(obj->adcHandle);
116
117 // Set main clock scaling factor (max45MHz clock for the ADC module)
118 ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);
119
120 // power up the ADCs
121 ADC_powerUp(obj->adcHandle);
122
123 // enable the ADCs
124 ADC_enable(obj->adcHandle);
125
126 // enable non-overlap mode
127 ADC_enableNoOverlapMode(obj->adcHandle);
128
129 // connect channel A5 internally to the temperature sensor
130 ADC_setTempSensorSrc(obj->adcHandle, ADC_TempSensorSrc_Int);
131
132 // set SOC0 channel select to ADCINA5
133 ADC_setSocChanNumber(obj->adcHandle, ADC_SocNumber_0, ADC_SocChanNumber_A5);
134
135 // set SOC0 acquisition period to 26 ADCCLK
136 ADC_setSocSampleDelay(obj->adcHandle, ADC_SocNumber_0, ADC_SocSampleDelay_64_cycles);
137
138 // connect ADCINT1 to EOC0
139 ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC0);
140
141 // clear ADCINT1 flag
142 ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);
143
144 // enable ADCINT1
145 ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);
146
147 // force start of conversion on SOC0
148 ADC_setSocFrc(obj->adcHandle, ADC_SocFrc_0);
149
150 // wait for end of conversion
151 while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}
152
153 // clear ADCINT1 flag
154 ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);
155
156 Temperature = ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);
157
158 HAL_osc1Comp(handle, Temperature);
159
160 HAL_osc2Comp(handle, Temperature);
161
162 return;
163 } // end of HAL_OscTempComp() function
164
165
166 void HAL_osc1Comp(HAL_Handle handle, const int16_t sensorSample)
167 {
168 int16_t compOscFineTrim;
169 HAL_Obj *obj = (HAL_Obj *)handle;
170
171 ENABLE_PROTECTED_REGISTER_WRITE_MODE;
172
173 compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc1FineTrimSlope()
174 + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc1FineTrimOffset() - OSC_POSTRIM;
175
176 if(compOscFineTrim > 31)
177 {
178 compOscFineTrim = 31;
179 }
180 else if(compOscFineTrim < -31)
181 {
182 compOscFineTrim = -31;
183 }
184
185 OSC_setTrim(obj->oscHandle, OSC_Number_1, HAL_getOscTrimValue(getOsc1CoarseTrim(), compOscFineTrim));
186
187 DISABLE_PROTECTED_REGISTER_WRITE_MODE;
188
189 return;
190 } // end of HAL_osc1Comp() function
191
192
193 void HAL_osc2Comp(HAL_Handle handle, const int16_t sensorSample)
194 {
195 int16_t compOscFineTrim;
196 HAL_Obj *obj = (HAL_Obj *)handle;
197
198 ENABLE_PROTECTED_REGISTER_WRITE_MODE;
199
200 compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc2FineTrimSlope()
201 + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc2FineTrimOffset() - OSC_POSTRIM;
202
203 if(compOscFineTrim > 31)
204 {
205 compOscFineTrim = 31;
206 }
207 else if(compOscFineTrim < -31)
208 {
209 compOscFineTrim = -31;
210 }
211
212 OSC_setTrim(obj->oscHandle, OSC_Number_2, HAL_getOscTrimValue(getOsc2CoarseTrim(), compOscFineTrim));
213
214 DISABLE_PROTECTED_REGISTER_WRITE_MODE;
215
216 return;
217 } // end of HAL_osc2Comp() function
218
219
220 uint16_t HAL_getOscTrimValue(int16_t coarse, int16_t fine)
221 {
222 uint16_t regValue = 0;
223
224 if(fine < 0)
225 {
226 regValue = ((-fine) | 0x20) << 9;
227 }
228 else
229 {
230 regValue = fine << 9;
231 }
232
233 if(coarse < 0)
234 {
235 regValue |= ((-coarse) | 0x80);
236 }
237 else
238 {
239 regValue |= coarse;
240 }
241
242 return regValue;
243 } // end of HAL_getOscTrimValue() function
244
245
246 void HAL_AdcOffsetSelfCal(HAL_Handle handle)
247 {
248 HAL_Obj *obj = (HAL_Obj *)handle;
249 uint16_t AdcConvMean;
250
251 // disable the ADCs
252 ADC_disable(obj->adcHandle);
253
254 // power up the bandgap circuit
255 ADC_enableBandGap(obj->adcHandle);
256
257 // set the ADC voltage reference source to internal
258 ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);
259
260 // enable the ADC reference buffers
261 ADC_enableRefBuffers(obj->adcHandle);
262
263 // Set main clock scaling factor (max45MHz clock for the ADC module)
264 ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);
265
266 // power up the ADCs
267 ADC_powerUp(obj->adcHandle);
268
269 // enable the ADCs
270 ADC_enable(obj->adcHandle);
271
272 //Select VREFLO internal connection on B5
273 ADC_enableVoltRefLoConv(obj->adcHandle);
274
275 //Select channel B5 for all SOC
276 HAL_AdcCalChanSelect(handle, ADC_SocChanNumber_B5);
277
278 //Apply artificial offset (+80) to account for a negative offset that may reside in the ADC core
279 ADC_setOffTrim(obj->adcHandle, 80);
280
281 //Capture ADC conversion on VREFLO
282 AdcConvMean = HAL_AdcCalConversion(handle);
283
284 //Set offtrim register with new value (i.e remove artical offset (+80) and create a two's compliment of the offset error)
285 ADC_setOffTrim(obj->adcHandle, 80 - AdcConvMean);
286
287 //Select external ADCIN5 input pin on B5
288 ADC_disableVoltRefLoConv(obj->adcHandle);
289
290 return;
291 } // end of HAL_AdcOffsetSelfCal() function
292
293
294 void HAL_AdcCalChanSelect(HAL_Handle handle, const ADC_SocChanNumber_e chanNumber)
295 {
296 HAL_Obj *obj = (HAL_Obj *)handle;
297
298 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,chanNumber);
299 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,chanNumber);
300 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,chanNumber);
301 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,chanNumber);
302 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,chanNumber);
303 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,chanNumber);
304 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,chanNumber);
305 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,chanNumber);
306 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,chanNumber);
307 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,chanNumber);
308 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,chanNumber);
309 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,chanNumber);
310 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,chanNumber);
311 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,chanNumber);
312 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,chanNumber);
313 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,chanNumber);
314
315 return;
316 } // end of HAL_AdcCalChanSelect() function
317
318
319 uint16_t HAL_AdcCalConversion(HAL_Handle handle)
320 {
321 HAL_Obj *obj = (HAL_Obj *)handle;
322 uint16_t index, SampleSize, Mean;
323 uint32_t Sum;
324 ADC_SocSampleDelay_e ACQPS_Value;
325
326 index = 0; //initialize index to 0
327 SampleSize = 256; //set sample size to 256 (**NOTE: Sample size must be multiples of 2^x where is an integer >= 4)
328 Sum = 0; //set sum to 0
329 Mean = 999; //initialize mean to known value
330
331 //Set the ADC sample window to the desired value (Sample window = ACQPS + 1)
332 ACQPS_Value = ADC_SocSampleDelay_7_cycles;
333
334 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ACQPS_Value);
335 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ACQPS_Value);
336 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ACQPS_Value);
337 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ACQPS_Value);
338 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ACQPS_Value);
339 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ACQPS_Value);
340 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ACQPS_Value);
341 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ACQPS_Value);
342 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ACQPS_Value);
343 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ACQPS_Value);
344 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ACQPS_Value);
345 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ACQPS_Value);
346 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ACQPS_Value);
347 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ACQPS_Value);
348 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ACQPS_Value);
349 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ACQPS_Value);
350
351 // Enabled ADCINT1 and ADCINT2
352 ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);
353 ADC_enableInt(obj->adcHandle, ADC_IntNumber_2);
354
355 // Disable continuous sampling for ADCINT1 and ADCINT2
356 ADC_setIntMode(obj->adcHandle, ADC_IntNumber_1, ADC_IntMode_EOC);
357 ADC_setIntMode(obj->adcHandle, ADC_IntNumber_2, ADC_IntMode_EOC);
358
359 //ADCINTs trigger at end of conversion
360 ADC_setIntPulseGenMode(obj->adcHandle, ADC_IntPulseGenMode_Prior);
361
362 // Setup ADCINT1 and ADCINT2 trigger source
363 ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC6);
364 ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_2, ADC_IntSrc_EOC14);
365
366 // Setup each SOC's ADCINT trigger source
367 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_Int2TriggersSOC);
368 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_Int2TriggersSOC);
369 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_Int2TriggersSOC);
370 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_Int2TriggersSOC);
371 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_Int2TriggersSOC);
372 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_Int2TriggersSOC);
373 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_Int2TriggersSOC);
374 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_Int2TriggersSOC);
375 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_Int1TriggersSOC);
376 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_Int1TriggersSOC);
377 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_Int1TriggersSOC);
378 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_Int1TriggersSOC);
379 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_Int1TriggersSOC);
380 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_Int1TriggersSOC);
381 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_Int1TriggersSOC);
382 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_Int1TriggersSOC);
383
384 // Delay before converting ADC channels
385 usDelay(ADC_DELAY_usec);
386
387 ADC_setSocFrcWord(obj->adcHandle, 0x00FF);
388
389 while( index < SampleSize )
390 {
391 //Wait for ADCINT1 to trigger, then add ADCRESULT0-7 registers to sum
392 while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}
393
394 //Must clear ADCINT1 flag since INT1CONT = 0
395 ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);
396
397 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);
398 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_1);
399 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_2);
400 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_3);
401 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_4);
402 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_5);
403 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_6);
404 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_7);
405
406 //Wait for ADCINT2 to trigger, then add ADCRESULT8-15 registers to sum
407 while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_2) == 0){}
408
409 //Must clear ADCINT2 flag since INT2CONT = 0
410 ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_2);
411
412 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_8);
413 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_9);
414 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_10);
415 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_11);
416 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_12);
417 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_13);
418 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_14);
419 Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_15);
420
421 index+=16;
422
423 } // end data collection
424
425 //Disable ADCINT1 and ADCINT2 to STOP the ping-pong sampling
426 ADC_disableInt(obj->adcHandle, ADC_IntNumber_1);
427 ADC_disableInt(obj->adcHandle, ADC_IntNumber_2);
428
429 //Calculate average ADC sample value
430 Mean = Sum / SampleSize;
431
432 // Clear start of conversion trigger
433 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_NoIntTriggersSOC);
434 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_NoIntTriggersSOC);
435 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_NoIntTriggersSOC);
436 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_NoIntTriggersSOC);
437 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_NoIntTriggersSOC);
438 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_NoIntTriggersSOC);
439 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_NoIntTriggersSOC);
440 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_NoIntTriggersSOC);
441 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_NoIntTriggersSOC);
442 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_NoIntTriggersSOC);
443 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_NoIntTriggersSOC);
444 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_NoIntTriggersSOC);
445 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_NoIntTriggersSOC);
446 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_NoIntTriggersSOC);
447 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_NoIntTriggersSOC);
448 ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_NoIntTriggersSOC);
449
450 //return the average
451 return(Mean);
452 } // end of HAL_AdcCalConversion() function
453
454
455 void HAL_disableWdog(HAL_Handle halHandle)
456 {
457 HAL_Obj *hal = (HAL_Obj *)halHandle;
458
459
460 WDOG_disable(hal->wdogHandle);
461
462
463 return;
464 } // end of HAL_disableWdog() function
465
466
467 void HAL_disableGlobalInts(HAL_Handle handle)
468 {
469 HAL_Obj *obj = (HAL_Obj *)handle;
470
471
472 CPU_disableGlobalInts(obj->cpuHandle);
473
474 return;
475 } // end of HAL_disableGlobalInts() function
476
477
478 void HAL_enableAdcInts(HAL_Handle handle)
479 {
480 HAL_Obj *obj = (HAL_Obj *)handle;
481
482
483 // enable the PIE interrupts associated with the ADC interrupts
484 PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1);
485
486
487 // enable the ADC interrupts
488 ADC_enableInt(obj->adcHandle,ADC_IntNumber_1);
489
490
491 // enable the cpu interrupt for ADC interrupts
492 CPU_enableInt(obj->cpuHandle,CPU_IntNumber_10);
493
494 return;
495 } // end of HAL_enableAdcInts() function
496
497
498 void HAL_enableDebugInt(HAL_Handle handle)
499 {
500 HAL_Obj *obj = (HAL_Obj *)handle;
501
502
503 CPU_enableDebugInt(obj->cpuHandle);
504
505 return;
506 } // end of HAL_enableDebugInt() function
507
508
509 void HAL_enableGlobalInts(HAL_Handle handle)
510 {
511 HAL_Obj *obj = (HAL_Obj *)handle;
512
513
514 CPU_enableGlobalInts(obj->cpuHandle);
515
516 return;
517 } // end of HAL_enableGlobalInts() function
518
519
520 void HAL_enablePwmInt(HAL_Handle handle)
521 {
522 HAL_Obj *obj = (HAL_Obj *)handle;
523
524
525 PIE_enablePwmInt(obj->pieHandle,PWM_Number_1);
526
527
528 // enable the interrupt
529 PWM_enableInt(obj->pwmHandle[PWM_Number_1]);
530
531
532 // enable the cpu interrupt for EPWM1_INT
533 CPU_enableInt(obj->cpuHandle,CPU_IntNumber_3);
534
535 return;
536 } // end of HAL_enablePwmInt() function
537
538
539 void HAL_setupFaults(HAL_Handle handle)
540 {
541 HAL_Obj *obj = (HAL_Obj *)handle;
542 uint_least8_t cnt;
543
544
545 // Configure Trip Mechanism for the Motor control software
546 // -Cycle by cycle trip on CPU halt
547 // -One shot fault trip zone
548 // These trips need to be repeated for EPWM1 ,2 & 3
549 for(cnt=0;cnt<3;cnt++)
550 {
551 PWM_enableTripZoneSrc(obj->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ6_NOT);
552
553 PWM_enableTripZoneSrc(obj->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ1_NOT);
554
555 // What do we want the OST/CBC events to do?
556 // TZA events can force EPWMxA
557 // TZB events can force EPWMxB
558
559 PWM_setTripZoneState_TZA(obj->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
560 PWM_setTripZoneState_TZB(obj->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
561
562 // Clear faults from flip flop
563 GPIO_setLow(obj->gpioHandle,GPIO_Number_9);
564 GPIO_setHigh(obj->gpioHandle,GPIO_Number_9);
565 }
566
567 return;
568 } // end of HAL_setupFaults() function
569
570
571 HAL_Handle HAL_init(void *pMemory,const size_t numBytes)
572 {
573 uint_least8_t cnt;
574 HAL_Handle handle;
575 HAL_Obj *obj;
576
577
578 if(numBytes < sizeof(HAL_Obj))
579 return((HAL_Handle)NULL);
580
581
582 // assign the handle
583 handle = (HAL_Handle)pMemory;
584
585
586 // assign the object
587 obj = (HAL_Obj *)handle;
588
589
590 // initialize the watchdog driver
591 obj->wdogHandle = WDOG_init((void *)WDOG_BASE_ADDR,sizeof(WDOG_Obj));
592
593
594 // disable watchdog
595 HAL_disableWdog(handle);
596
597
598 // initialize the ADC
599 obj->adcHandle = ADC_init((void *)ADC_BASE_ADDR,sizeof(ADC_Obj));
600
601
602 // initialize the clock handle
603 obj->clkHandle = CLK_init((void *)CLK_BASE_ADDR,sizeof(CLK_Obj));
604
605
606 // initialize the CPU handle
607 obj->cpuHandle = CPU_init(&cpu,sizeof(cpu));
608
609
610 // initialize the FLASH handle
611 obj->flashHandle = FLASH_init((void *)FLASH_BASE_ADDR,sizeof(FLASH_Obj));
612
613
614 // initialize the GPIO handle
615 obj->gpioHandle = GPIO_init((void *)GPIO_BASE_ADDR,sizeof(GPIO_Obj));
616
617
618 // initialize the current offset estimator handles
619 for(cnt=0;cnt<USER_NUM_CURRENT_SENSORS;cnt++)
620 {
621 obj->offsetHandle_I[cnt] = OFFSET_init(&obj->offset_I[cnt],sizeof(obj->offset_I[cnt]));
622 }
623
624
625 // initialize the voltage offset estimator handles
626 for(cnt=0;cnt<USER_NUM_VOLTAGE_SENSORS;cnt++)
627 {
628 obj->offsetHandle_V[cnt] = OFFSET_init(&obj->offset_V[cnt],sizeof(obj->offset_V[cnt]));
629 }
630
631
632 // initialize the oscillator handle
633 obj->oscHandle = OSC_init((void *)OSC_BASE_ADDR,sizeof(OSC_Obj));
634
635
636 // initialize the PIE handle
637 obj->pieHandle = PIE_init((void *)PIE_BASE_ADDR,sizeof(PIE_Obj));
638
639
640 // initialize the PLL handle
641 obj->pllHandle = PLL_init((void *)PLL_BASE_ADDR,sizeof(PLL_Obj));
642
643
644 // initialize PWM handles
645 obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM1_BASE_ADDR,sizeof(PWM_Obj));
646 obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM2_BASE_ADDR,sizeof(PWM_Obj));
647 obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM3_BASE_ADDR,sizeof(PWM_Obj));
648
649
650 // initialize PWM DAC handles
651 obj->pwmDacHandle[0] = PWMDAC_init((void *)PWM_ePWM6_BASE_ADDR,sizeof(PWM_Obj));
652 obj->pwmDacHandle[1] = PWMDAC_init((void *)PWM_ePWM5_BASE_ADDR,sizeof(PWM_Obj));
653 obj->pwmDacHandle[2] = PWMDAC_init((void *)PWM_ePWM4_BASE_ADDR,sizeof(PWM_Obj));
654
655
656 // initialize power handle
657 obj->pwrHandle = PWR_init((void *)PWR_BASE_ADDR,sizeof(PWR_Obj));
658
659
660 // initialize timer handles
661 obj->timerHandle[0] = TIMER_init((void *)TIMER0_BASE_ADDR,sizeof(TIMER_Obj));
662 obj->timerHandle[1] = TIMER_init((void *)TIMER1_BASE_ADDR,sizeof(TIMER_Obj));
663 obj->timerHandle[2] = TIMER_init((void *)TIMER2_BASE_ADDR,sizeof(TIMER_Obj));
664
665 #ifdef QEP
666 // initialize QEP driver
667 obj->qepHandle[0] = QEP_init((void*)QEP1_BASE_ADDR,sizeof(QEP_Obj));
668 #endif
669
670 return(handle);
671 } // end of HAL_init() function
672
673
674 void HAL_setParams(HAL_Handle handle,const USER_Params *pUserParams)
675 {
676 uint_least8_t cnt;
677 HAL_Obj *obj = (HAL_Obj *)handle;
678 _iq beta_lp_pu = _IQ(pUserParams->offsetPole_rps/(float_t)pUserParams->ctrlFreq_Hz);
679
680
681 HAL_setNumCurrentSensors(handle,pUserParams->numCurrentSensors);
682 HAL_setNumVoltageSensors(handle,pUserParams->numVoltageSensors);
683
684
685 for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++)
686 {
687 HAL_setOffsetBeta_lp_pu(handle,HAL_SensorType_Current,cnt,beta_lp_pu);
688 HAL_setOffsetInitCond(handle,HAL_SensorType_Current,cnt,_IQ(0.0));
689 HAL_setOffsetValue(handle,HAL_SensorType_Current,cnt,_IQ(0.0));
690 }
691
692
693 for(cnt=0;cnt<HAL_getNumVoltageSensors(handle);cnt++)
694 {
695 HAL_setOffsetBeta_lp_pu(handle,HAL_SensorType_Voltage,cnt,beta_lp_pu);
696 HAL_setOffsetInitCond(handle,HAL_SensorType_Voltage,cnt,_IQ(0.0));
697 HAL_setOffsetValue(handle,HAL_SensorType_Voltage,cnt,_IQ(0.0));
698 }
699
700
701 // disable global interrupts
702 CPU_disableGlobalInts(obj->cpuHandle);
703
704
705 // disable cpu interrupts
706 CPU_disableInts(obj->cpuHandle);
707
708
709 // clear cpu interrupt flags
710 CPU_clearIntFlags(obj->cpuHandle);
711
712
713 // setup the clocks
714 HAL_setupClks(handle);
715
716
717 // Setup the PLL
718 HAL_setupPll(handle,PLL_ClkFreq_90_MHz);
719
720
721 // setup the PIE
722 HAL_setupPie(handle);
723
724
725 // run the device calibration
726 HAL_cal(handle);
727
728
729 // setup the peripheral clocks
730 HAL_setupPeripheralClks(handle);
731
732
733 // setup the GPIOs
734 HAL_setupGpios(handle);
735
736
737 // setup the flash
738 HAL_setupFlash(handle);
739
740
741 // setup the ADCs
742 HAL_setupAdcs(handle);
743
744
745 // setup the PWMs
746 HAL_setupPwms(handle,
747 (float_t)pUserParams->systemFreq_MHz,
748 pUserParams->pwmPeriod_usec,
749 USER_NUM_PWM_TICKS_PER_ISR_TICK);
750
751 #ifdef QEP
752 // setup the QEP
753 HAL_setupQEP(handle,HAL_Qep_QEP1);
754 #endif
755
756 // setup the PWM DACs
757 HAL_setupPwmDacs(handle);
758
759
760 // setup the timers
761 HAL_setupTimers(handle,
762 (float_t)pUserParams->systemFreq_MHz);
763
764
765 // set the default current bias
766 {
767 uint_least8_t cnt;
768 _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams->current_sf));
769
770 for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++)
771 {
772 HAL_setBias(handle,HAL_SensorType_Current,cnt,bias);
773 }
774 }
775
776
777 // set the current scale factor
778 {
779 _iq current_sf = _IQ(pUserParams->current_sf);
780
781 HAL_setCurrentScaleFactor(handle,current_sf);
782 }
783
784
785 // set the default voltage bias
786 {
787 uint_least8_t cnt;
788 _iq bias = _IQ(0.0);
789
790 for(cnt=0;cnt<HAL_getNumVoltageSensors(handle);cnt++)
791 {
792 HAL_setBias(handle,HAL_SensorType_Voltage,cnt,bias);
793 }
794 }
795
796
797 // set the voltage scale factor
798 {
799 _iq voltage_sf = _IQ(pUserParams->voltage_sf);
800
801 HAL_setVoltageScaleFactor(handle,voltage_sf);
802 }
803
804 return;
805 } // end of HAL_setParams() function
806
807
808 void HAL_setupAdcs(HAL_Handle handle)
809 {
810 HAL_Obj *obj = (HAL_Obj *)handle;
811
812
813 // disable the ADCs
814 ADC_disable(obj->adcHandle);
815
816
817 // power up the bandgap circuit
818 ADC_enableBandGap(obj->adcHandle);
819
820
821 // set the ADC voltage reference source to internal
822 ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);
823
824
825 // enable the ADC reference buffers
826 ADC_enableRefBuffers(obj->adcHandle);
827
828
829 // Set main clock scaling factor (max45MHz clock for the ADC module)
830 ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);
831
832
833 // power up the ADCs
834 ADC_powerUp(obj->adcHandle);
835
836
837 // enable the ADCs
838 ADC_enable(obj->adcHandle);
839
840
841 // set the ADC interrupt pulse generation to prior
842 ADC_setIntPulseGenMode(obj->adcHandle,ADC_IntPulseGenMode_Prior);
843
844
845 // set the temperature sensor source to external
846 ADC_setTempSensorSrc(obj->adcHandle,ADC_TempSensorSrc_Ext);
847
848
849 // configure the interrupt sources
850 ADC_disableInt(obj->adcHandle,ADC_IntNumber_1);
851 ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag);
852 ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7);
853
854
855 //configure the SOCs for hvkit_rev1p1
856 // EXT IA-FB
857 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_A1);
858 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM1_ADCSOCA);
859 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_9_cycles);
860
861 // EXT IA-FB
862 // Duplicate conversion due to ADC Initial Conversion bug (SPRZ342)
863 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_A1);
864 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM1_ADCSOCA);
865 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_9_cycles);
866
867 // EXT IB-FB
868 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,ADC_SocChanNumber_B1);
869 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_2,ADC_SocTrigSrc_EPWM1_ADCSOCA);
870 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ADC_SocSampleDelay_9_cycles);
871
872 // EXT IC-FB
873 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_A3);
874 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM1_ADCSOCA);
875 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_9_cycles);
876
877 // ADC-Vhb1
878 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,ADC_SocChanNumber_B7);
879 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_4,ADC_SocTrigSrc_EPWM1_ADCSOCA);
880 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ADC_SocSampleDelay_9_cycles);
881
882 // ADC-Vhb2
883 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_B6);
884 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM1_ADCSOCA);
885 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_9_cycles);
886
887 // ADC-Vhb3
888 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,ADC_SocChanNumber_B4);
889 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_6,ADC_SocTrigSrc_EPWM1_ADCSOCA);
890 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ADC_SocSampleDelay_9_cycles);
891
892 // VDCBUS
893 ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_A7);
894 ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM1_ADCSOCA);
895 ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_9_cycles);
896
897 return;
898 } // end of HAL_setupAdcs() function
899
900
901 void HAL_setupClks(HAL_Handle handle)
902 {
903 HAL_Obj *obj = (HAL_Obj *)handle;
904
905
906 // enable internal oscillator 1
907 CLK_enableOsc1(obj->clkHandle);
908
909 // set the oscillator source
910 CLK_setOscSrc(obj->clkHandle,CLK_OscSrc_Internal);
911
912 // disable the external clock in
913 CLK_disableClkIn(obj->clkHandle);
914
915 // disable the crystal oscillator
916 CLK_disableCrystalOsc(obj->clkHandle);
917
918 // disable oscillator 2
919 CLK_disableOsc2(obj->clkHandle);
920
921 // set the low speed clock prescaler
922 CLK_setLowSpdPreScaler(obj->clkHandle,CLK_LowSpdPreScaler_SysClkOut_by_1);
923
924 // set the clock out prescaler
925 CLK_setClkOutPreScaler(obj->clkHandle,CLK_ClkOutPreScaler_SysClkOut_by_1);
926
927 return;
928 } // end of HAL_setupClks() function
929
930
931 void HAL_setupFlash(HAL_Handle handle)
932 {
933 HAL_Obj *obj = (HAL_Obj *)handle;
934
935
936 FLASH_enablePipelineMode(obj->flashHandle);
937
938 FLASH_setNumPagedReadWaitStates(obj->flashHandle,FLASH_NumPagedWaitStates_3);
939
940 FLASH_setNumRandomReadWaitStates(obj->flashHandle,FLASH_NumRandomWaitStates_3);
941
942 FLASH_setOtpWaitStates(obj->flashHandle,FLASH_NumOtpWaitStates_5);
943
944 FLASH_setStandbyWaitCount(obj->flashHandle,FLASH_STANDBY_WAIT_COUNT_DEFAULT);
945
946 FLASH_setActiveWaitCount(obj->flashHandle,FLASH_ACTIVE_WAIT_COUNT_DEFAULT);
947
948 return;
949 } // HAL_setupFlash() function
950
951
952 void HAL_setupGpios(HAL_Handle handle)
953 {
954 HAL_Obj *obj = (HAL_Obj *)handle;
955
956
957 // PWM1
958 GPIO_setMode(obj->gpioHandle,GPIO_Number_0,GPIO_0_Mode_EPWM1A);
959
960 // PWM2
961 GPIO_setMode(obj->gpioHandle,GPIO_Number_1,GPIO_1_Mode_EPWM1B);
962
963 // PWM3
964 GPIO_setMode(obj->gpioHandle,GPIO_Number_2,GPIO_2_Mode_EPWM2A);
965
966 // PWM4
967 GPIO_setMode(obj->gpioHandle,GPIO_Number_3,GPIO_3_Mode_EPWM2B);
968
969 // PWM5
970 GPIO_setMode(obj->gpioHandle,GPIO_Number_4,GPIO_4_Mode_EPWM3A);
971
972 // PWM6
973 GPIO_setMode(obj->gpioHandle,GPIO_Number_5,GPIO_5_Mode_EPWM3B);
974
975 // PWM-DAC4
976 GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_EPWM4A);
977
978 // Input
979 GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_GeneralPurpose);
980
981 // PWM-DAC3
982 GPIO_setMode(obj->gpioHandle,GPIO_Number_8,GPIO_8_Mode_EPWM5A);
983
984 // CLR-FAULT
985 GPIO_setMode(obj->gpioHandle,GPIO_Number_9,GPIO_9_Mode_GeneralPurpose);
986 GPIO_setHigh(obj->gpioHandle,GPIO_Number_9);
987 GPIO_setDirection(obj->gpioHandle,GPIO_Number_9,GPIO_Direction_Output);
988
989 // PWM-DAC1
990 GPIO_setMode(obj->gpioHandle,GPIO_Number_10,GPIO_10_Mode_EPWM6A);
991
992 // PWM-DAC2
993 GPIO_setMode(obj->gpioHandle,GPIO_Number_11,GPIO_11_Mode_EPWM6B);
994
995 // TZ-1
996 GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_TZ1_NOT);
997
998 // HALL-2
999 GPIO_setMode(obj->gpioHandle,GPIO_Number_13,GPIO_13_Mode_GeneralPurpose);
1000
1001 // HALL-3
1002 GPIO_setMode(obj->gpioHandle,GPIO_Number_14,GPIO_14_Mode_GeneralPurpose);
1003
1004 // LED2
1005 GPIO_setMode(obj->gpioHandle,GPIO_Number_15,GPIO_15_Mode_GeneralPurpose);
1006
1007 // Set Qualification Period for GPIO16-23, 22*2*(1/90MHz) = 0.48us
1008 GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_16,22);
1009
1010 // SPI-SIMO
1011 GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_GeneralPurpose);
1012
1013 // SPI-SOMI
1014 GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_GeneralPurpose);
1015
1016 // SPI-CLK
1017 GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_GeneralPurpose);
1018
1019 // SPI-STE
1020 GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_GeneralPurpose);
1021
1022 #ifdef QEP
1023 // EQEPA
1024 GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_EQEP1A);
1025 GPIO_setQualification(obj->gpioHandle,GPIO_Number_20,GPIO_Qual_Sample_3);
1026
1027 // EQEPB
1028 GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_EQEP1B);
1029 GPIO_setQualification(obj->gpioHandle,GPIO_Number_21,GPIO_Qual_Sample_3);
1030
1031 // STATUS
1032 GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);
1033
1034 // EQEP1I
1035 GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_EQEP1I);
1036 GPIO_setQualification(obj->gpioHandle,GPIO_Number_23,GPIO_Qual_Sample_3);
1037 #else
1038 // EQEPA
1039 GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_GeneralPurpose);
1040
1041 // EQEPB
1042 GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_GeneralPurpose);
1043
1044 // STATUS
1045 GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);
1046
1047 // EQEP1I
1048 GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_GeneralPurpose);
1049 #endif
1050
1051 // SPI SIMO B
1052 GPIO_setMode(obj->gpioHandle,GPIO_Number_24,GPIO_24_Mode_GeneralPurpose);
1053
1054 // SPI SOMI B
1055 GPIO_setMode(obj->gpioHandle,GPIO_Number_25,GPIO_25_Mode_GeneralPurpose);
1056
1057 // SPI CLK B
1058 GPIO_setMode(obj->gpioHandle,GPIO_Number_26,GPIO_26_Mode_GeneralPurpose);
1059
1060 // SPI CSn B
1061 GPIO_setMode(obj->gpioHandle,GPIO_Number_27,GPIO_27_Mode_GeneralPurpose);
1062
1063 // No Connection
1064 GPIO_setMode(obj->gpioHandle,GPIO_Number_28,GPIO_28_Mode_GeneralPurpose);
1065
1066 // No Connection
1067 GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);
1068
1069 // No Connection
1070 GPIO_setMode(obj->gpioHandle,GPIO_Number_30,GPIO_30_Mode_GeneralPurpose);
1071
1072 // ControlCARD LED2
1073 GPIO_setMode(obj->gpioHandle,GPIO_Number_31,GPIO_31_Mode_GeneralPurpose);
1074 GPIO_setLow(obj->gpioHandle,GPIO_Number_31);
1075 GPIO_setDirection(obj->gpioHandle,GPIO_Number_31,GPIO_Direction_Output);
1076
1077 // No Connection
1078 GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_ADCSOCAO_NOT);
1079
1080 // No Connection
1081 GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);
1082
1083 // ControlCARD LED3
1084 GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose);
1085 GPIO_setLow(obj->gpioHandle,GPIO_Number_34);
1086 GPIO_setDirection(obj->gpioHandle,GPIO_Number_34,GPIO_Direction_Output);
1087
1088 // JTAG
1089 GPIO_setMode(obj->gpioHandle,GPIO_Number_35,GPIO_35_Mode_JTAG_TDI);
1090 GPIO_setMode(obj->gpioHandle,GPIO_Number_36,GPIO_36_Mode_JTAG_TMS);
1091 GPIO_setMode(obj->gpioHandle,GPIO_Number_37,GPIO_37_Mode_JTAG_TDO);
1092 GPIO_setMode(obj->gpioHandle,GPIO_Number_38,GPIO_38_Mode_JTAG_TCK);
1093
1094 // No Connection
1095 GPIO_setMode(obj->gpioHandle,GPIO_Number_39,GPIO_39_Mode_GeneralPurpose);
1096
1097 // CAP1
1098 GPIO_setMode(obj->gpioHandle,GPIO_Number_40,GPIO_40_Mode_GeneralPurpose);
1099
1100 // CAP2
1101 GPIO_setMode(obj->gpioHandle,GPIO_Number_41,GPIO_41_Mode_GeneralPurpose);
1102
1103 // CAP3
1104 GPIO_setMode(obj->gpioHandle,GPIO_Number_42,GPIO_42_Mode_GeneralPurpose);
1105
1106 // DC_CAL
1107 GPIO_setMode(obj->gpioHandle,GPIO_Number_43,GPIO_43_Mode_GeneralPurpose);
1108
1109 // No Connection
1110 GPIO_setMode(obj->gpioHandle,GPIO_Number_44,GPIO_44_Mode_GeneralPurpose);
1111
1112 // No Connection
1113 GPIO_setMode(obj->gpioHandle,GPIO_Number_50,GPIO_50_Mode_GeneralPurpose);
1114
1115 // No Connection
1116 GPIO_setMode(obj->gpioHandle,GPIO_Number_51,GPIO_51_Mode_GeneralPurpose);
1117
1118 // No Connection
1119 GPIO_setMode(obj->gpioHandle,GPIO_Number_52,GPIO_52_Mode_GeneralPurpose);
1120
1121 // No Connection
1122 GPIO_setMode(obj->gpioHandle,GPIO_Number_53,GPIO_53_Mode_GeneralPurpose);
1123
1124 // No Connection
1125 GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_GeneralPurpose);
1126
1127 // No Connection
1128 GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_GeneralPurpose);
1129
1130 // No Connection
1131 GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_GeneralPurpose);
1132
1133 // No Connection
1134 GPIO_setMode(obj->gpioHandle,GPIO_Number_57,GPIO_57_Mode_GeneralPurpose);
1135
1136 // No Connection
1137 GPIO_setMode(obj->gpioHandle,GPIO_Number_58,GPIO_58_Mode_GeneralPurpose);
1138
1139 return;
1140 } // end of HAL_setupGpios() function
1141
1142
1143 void HAL_setupPie(HAL_Handle handle)
1144 {
1145 HAL_Obj *obj = (HAL_Obj *)handle;
1146
1147
1148 PIE_disable(obj->pieHandle);
1149
1150 PIE_disableAllInts(obj->pieHandle);
1151
1152 PIE_clearAllInts(obj->pieHandle);
1153
1154 PIE_clearAllFlags(obj->pieHandle);
1155
1156 PIE_setDefaultIntVectorTable(obj->pieHandle);
1157
1158 PIE_enable(obj->pieHandle);
1159
1160 return;
1161 } // end of HAL_setupPie() function
1162
1163
1164 void HAL_setupPeripheralClks(HAL_Handle handle)
1165 {
1166 HAL_Obj *obj = (HAL_Obj *)handle;
1167
1168
1169 CLK_enableAdcClock(obj->clkHandle);
1170
1171 CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_1);
1172 CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_2);
1173 CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_3);
1174
1175 CLK_enableEcap1Clock(obj->clkHandle);
1176
1177 CLK_disableEcanaClock(obj->clkHandle);
1178
1179 #ifdef QEP
1180 CLK_enableEqep1Clock(obj->clkHandle);
1181 CLK_disableEqep2Clock(obj->clkHandle);
1182 #endif
1183
1184 CLK_enablePwmClock(obj->clkHandle,PWM_Number_1);
1185 CLK_enablePwmClock(obj->clkHandle,PWM_Number_2);
1186 CLK_enablePwmClock(obj->clkHandle,PWM_Number_3);
1187 CLK_enablePwmClock(obj->clkHandle,PWM_Number_4);
1188 CLK_enablePwmClock(obj->clkHandle,PWM_Number_5);
1189 CLK_enablePwmClock(obj->clkHandle,PWM_Number_6);
1190 CLK_enablePwmClock(obj->clkHandle,PWM_Number_7);
1191
1192 CLK_disableHrPwmClock(obj->clkHandle);
1193
1194 CLK_disableI2cClock(obj->clkHandle);
1195
1196 CLK_disableLinAClock(obj->clkHandle);
1197
1198 CLK_disableClaClock(obj->clkHandle);
1199
1200 CLK_enableSciaClock(obj->clkHandle);
1201
1202 CLK_disableSpiaClock(obj->clkHandle);
1203 CLK_disableSpibClock(obj->clkHandle);
1204
1205 CLK_enableTbClockSync(obj->clkHandle);
1206
1207 return;
1208 } // end of HAL_setupPeripheralClks() function
1209
1210
1211 void HAL_setupPll(HAL_Handle handle,const PLL_ClkFreq_e clkFreq)
1212 {
1213 HAL_Obj *obj = (HAL_Obj *)handle;
1214
1215
1216 // make sure PLL is not running in limp mode
1217 if(PLL_getClkStatus(obj->pllHandle) != PLL_ClkStatus_Normal)
1218 {
1219 // reset the clock detect
1220 PLL_resetClkDetect(obj->pllHandle);
1221
1222 // ???????
1223 asm(" ESTOP0");
1224 }
1225
1226
1227 // Divide Select must be ClkIn/4 before the clock rate can be changed
1228 if(PLL_getDivideSelect(obj->pllHandle) != PLL_DivideSelect_ClkIn_by_4)
1229 {
1230 PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_4);
1231 }
1232
1233
1234 if(PLL_getClkFreq(obj->pllHandle) != clkFreq)
1235 {
1236 // disable the clock detect
1237 PLL_disableClkDetect(obj->pllHandle);
1238
1239 // set the clock rate
1240 PLL_setClkFreq(obj->pllHandle,clkFreq);
1241 }
1242
1243
1244 // wait until locked
1245 while(PLL_getLockStatus(obj->pllHandle) != PLL_LockStatus_Done) {}
1246
1247
1248 // enable the clock detect
1249 PLL_enableClkDetect(obj->pllHandle);
1250
1251
1252 // set divide select to ClkIn/2 to get desired clock rate
1253 // NOTE: clock must be locked before setting this register
1254 PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_2);
1255
1256 return;
1257 } // end of HAL_setupPll() function
1258
1259
1260 void HAL_setupPwms(HAL_Handle handle,
1261 const float_t systemFreq_MHz,
1262 const float_t pwmPeriod_usec,
1263 const uint_least16_t numPwmTicksPerIsrTick)
1264 {
1265 HAL_Obj *obj = (HAL_Obj *)handle;
1266 uint16_t halfPeriod_cycles = (uint16_t)(systemFreq_MHz*pwmPeriod_usec) >> 1;
1267 uint_least8_t cnt;
1268
1269
1270 // turns off the outputs of the EPWM peripherals which will put the power switches
1271 // into a high impedance state.
1272 PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_1]);
1273 PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_2]);
1274 PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_3]);
1275
1276 for(cnt=0;cnt<3;cnt++)
1277 {
1278 // setup the Time-Base Control Register (TBCTL)
1279 PWM_setCounterMode(obj->pwmHandle[cnt],PWM_CounterMode_UpDown);
1280 PWM_disableCounterLoad(obj->pwmHandle[cnt]);
1281 PWM_setPeriodLoad(obj->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
1282 PWM_setSyncMode(obj->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
1283 PWM_setHighSpeedClkDiv(obj->pwmHandle[cnt],PWM_HspClkDiv_by_1);
1284 PWM_setClkDiv(obj->pwmHandle[cnt],PWM_ClkDiv_by_1);
1285 PWM_setPhaseDir(obj->pwmHandle[cnt],PWM_PhaseDir_CountUp);
1286 PWM_setRunMode(obj->pwmHandle[cnt],PWM_RunMode_FreeRun);
1287
1288 // setup the Timer-Based Phase Register (TBPHS)
1289 PWM_setPhase(obj->pwmHandle[cnt],0);
1290
1291 // setup the Time-Base Counter Register (TBCTR)
1292 PWM_setCount(obj->pwmHandle[cnt],0);
1293
1294 // setup the Time-Base Period Register (TBPRD)
1295 // set to zero initially
1296 PWM_setPeriod(obj->pwmHandle[cnt],0);
1297
1298 // setup the Counter-Compare Control Register (CMPCTL)
1299 PWM_setLoadMode_CmpA(obj->pwmHandle[cnt],PWM_LoadMode_Zero);
1300 PWM_setLoadMode_CmpB(obj->pwmHandle[cnt],PWM_LoadMode_Zero);
1301 PWM_setShadowMode_CmpA(obj->pwmHandle[cnt],PWM_ShadowMode_Shadow);
1302 PWM_setShadowMode_CmpB(obj->pwmHandle[cnt],PWM_ShadowMode_Immediate);
1303
1304 // setup the Action-Qualifier Output A Register (AQCTLA)
1305 PWM_setActionQual_CntUp_CmpA_PwmA(obj->pwmHandle[cnt],PWM_ActionQual_Set);
1306 PWM_setActionQual_CntDown_CmpA_PwmA(obj->pwmHandle[cnt],PWM_ActionQual_Clear);
1307
1308 // setup the Dead-Band Generator Control Register (DBCTL)
1309 PWM_setDeadBandOutputMode(obj->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
1310 PWM_setDeadBandPolarity(obj->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);
1311
1312 // setup the Dead-Band Rising Edge Delay Register (DBRED)
1313 PWM_setDeadBandRisingEdgeDelay(obj->pwmHandle[cnt],HAL_PWM_DBRED_CNT);
1314
1315 // setup the Dead-Band Falling Edge Delay Register (DBFED)
1316 PWM_setDeadBandFallingEdgeDelay(obj->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
1317 // setup the PWM-Chopper Control Register (PCCTL)
1318 PWM_disableChopping(obj->pwmHandle[cnt]);
1319
1320 // setup the Trip Zone Select Register (TZSEL)
1321 PWM_disableTripZones(obj->pwmHandle[cnt]);
1322 }
1323
1324
1325 // setup the Event Trigger Selection Register (ETSEL)
1326 PWM_disableInt(obj->pwmHandle[PWM_Number_1]);
1327 PWM_setSocAPulseSrc(obj->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
1328 PWM_enableSocAPulse(obj->pwmHandle[PWM_Number_1]);
1329
1330
1331 // setup the Event Trigger Prescale Register (ETPS)
1332 if(numPwmTicksPerIsrTick == 3)
1333 {
1334 PWM_setIntPeriod(obj->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
1335 PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
1336 }
1337 else if(numPwmTicksPerIsrTick == 2)
1338 {
1339 PWM_setIntPeriod(obj->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
1340 PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
1341 }
1342 else
1343 {
1344 PWM_setIntPeriod(obj->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
1345 PWM_setSocAPeriod(obj->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
1346 }
1347
1348
1349 // setup the Event Trigger Clear Register (ETCLR)
1350 PWM_clearIntFlag(obj->pwmHandle[PWM_Number_1]);
1351 PWM_clearSocAFlag(obj->pwmHandle[PWM_Number_1]);
1352
1353 // first step to synchronize the pwms
1354 CLK_disableTbClockSync(obj->clkHandle);
1355
1356 // since the PWM is configured as an up/down counter, the period register is set to one-half
1357 // of the desired PWM period
1358 PWM_setPeriod(obj->pwmHandle[PWM_Number_1],halfPeriod_cycles);
1359 PWM_setPeriod(obj->pwmHandle[PWM_Number_2],halfPeriod_cycles);
1360 PWM_setPeriod(obj->pwmHandle[PWM_Number_3],halfPeriod_cycles);
1361
1362 // last step to synchronize the pwms
1363 CLK_enableTbClockSync(obj->clkHandle);
1364
1365 return;
1366 } // end of HAL_setupPwms() function
1367
1368 #ifdef QEP
1369 void HAL_setupQEP(HAL_Handle handle,HAL_QepSelect_e qep)
1370 {
1371 HAL_Obj *obj = (HAL_Obj *)handle;
1372
1373
1374 // hold the counter in reset
1375 QEP_reset_counter(obj->qepHandle[qep]);
1376
1377 // set the QPOSINIT register
1378 QEP_set_posn_init_count(obj->qepHandle[qep], 0);
1379
1380 // disable all interrupts
1381 QEP_disable_all_interrupts(obj->qepHandle[qep]);
1382
1383 // clear the interrupt flags
1384 QEP_clear_all_interrupt_flags(obj->qepHandle[qep]);
1385
1386 // clear the position counter
1387 QEP_clear_posn_counter(obj->qepHandle[qep]);
1388
1389 // setup the max position
1390 QEP_set_max_posn_count(obj->qepHandle[qep], (4*USER_MOTOR_ENCODER_LINES)-1);
1391
1392 // setup the QDECCTL register
1393 QEP_set_QEP_source(obj->qepHandle[qep], QEP_Qsrc_Quad_Count_Mode);
1394 QEP_disable_sync_out(obj->qepHandle[qep]);
1395 QEP_set_swap_quad_inputs(obj->qepHandle[qep], QEP_Swap_Not_Swapped);
1396 QEP_disable_gate_index(obj->qepHandle[qep]);
1397 QEP_set_ext_clock_rate(obj->qepHandle[qep], QEP_Xcr_2x_Res);
1398 QEP_set_A_polarity(obj->qepHandle[qep], QEP_Qap_No_Effect);
1399 QEP_set_B_polarity(obj->qepHandle[qep], QEP_Qbp_No_Effect);
1400 QEP_set_index_polarity(obj->qepHandle[qep], QEP_Qip_No_Effect);
1401
1402 // setup the QEPCTL register
1403 QEP_set_emu_control(obj->qepHandle[qep], QEPCTL_Freesoft_Unaffected_Halt);
1404 QEP_set_posn_count_reset_mode(obj->qepHandle[qep], QEPCTL_Pcrm_Max_Reset);
1405 QEP_set_strobe_event_init(obj->qepHandle[qep], QEPCTL_Sei_Nothing);
1406 QEP_set_index_event_init(obj->qepHandle[qep], QEPCTL_Iei_Nothing);
1407 QEP_set_index_event_latch(obj->qepHandle[qep], QEPCTL_Iel_Rising_Edge);
1408 QEP_set_soft_init(obj->qepHandle[qep], QEPCTL_Swi_Nothing);
1409 QEP_disable_unit_timer(obj->qepHandle[qep]);
1410 QEP_disable_watchdog(obj->qepHandle[qep]);
1411
1412 // setup the QPOSCTL register
1413 QEP_disable_posn_compare(obj->qepHandle[qep]);
1414
1415 // setup the QCAPCTL register
1416 QEP_disable_capture(obj->qepHandle[qep]);
1417
1418 // renable the position counter
1419 QEP_enable_counter(obj->qepHandle[qep]);
1420
1421
1422 return;
1423 }
1424 #endif
1425
1426 void HAL_setupPwmDacs(HAL_Handle handle)
1427 {
1428 HAL_Obj *obj = (HAL_Obj *)handle;
1429 uint16_t halfPeriod_cycles = 512; // 3000->10kHz, 1500->20kHz, 1000-> 30kHz, 500->60kHz
1430 uint_least8_t cnt;
1431
1432
1433 for(cnt=0;cnt<3;cnt++)
1434 {
1435 // initialize the Time-Base Control Register (TBCTL)
1436 PWMDAC_setCounterMode(obj->pwmDacHandle[cnt],PWM_CounterMode_UpDown);
1437 PWMDAC_disableCounterLoad(obj->pwmDacHandle[cnt]);
1438 PWMDAC_setPeriodLoad(obj->pwmDacHandle[cnt],PWM_PeriodLoad_Immediate);
1439 PWMDAC_setSyncMode(obj->pwmDacHandle[cnt],PWM_SyncMode_EPWMxSYNC);
1440 PWMDAC_setHighSpeedClkDiv(obj->pwmDacHandle[cnt],PWM_HspClkDiv_by_1);
1441 PWMDAC_setClkDiv(obj->pwmDacHandle[cnt],PWM_ClkDiv_by_1);
1442 PWMDAC_setPhaseDir(obj->pwmDacHandle[cnt],PWM_PhaseDir_CountUp);
1443 PWMDAC_setRunMode(obj->pwmDacHandle[cnt],PWM_RunMode_FreeRun);
1444
1445 // initialize the Timer-Based Phase Register (TBPHS)
1446 PWMDAC_setPhase(obj->pwmDacHandle[cnt],0);
1447
1448 // setup the Time-Base Counter Register (TBCTR)
1449 PWMDAC_setCount(obj->pwmDacHandle[cnt],0);
1450
1451 // Initialize the Time-Base Period Register (TBPRD)
1452 // set to zero initially
1453 PWMDAC_setPeriod(obj->pwmDacHandle[cnt],0);
1454
1455 // initialize the Counter-Compare Control Register (CMPCTL)
1456 PWMDAC_setLoadMode_CmpA(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
1457 PWMDAC_setLoadMode_CmpB(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
1458 PWMDAC_setShadowMode_CmpA(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);
1459 PWMDAC_setShadowMode_CmpB(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);
1460
1461 // Initialize the Action-Qualifier Output A Register (AQCTLA)
1462 PWMDAC_setActionQual_CntUp_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
1463 PWMDAC_setActionQual_CntDown_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);
1464
1465 // account for EPWM6B
1466 if(cnt == 0)
1467 {
1468 PWMDAC_setActionQual_CntUp_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
1469 PWMDAC_setActionQual_CntDown_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);
1470 }
1471
1472 // Initialize the Dead-Band Control Register (DBCTL)
1473 PWMDAC_disableDeadBand(obj->pwmDacHandle[cnt]);
1474
1475 // Initialize the PWM-Chopper Control Register (PCCTL)
1476 PWMDAC_disableChopping(obj->pwmDacHandle[cnt]);
1477
1478 // Initialize the Trip-Zone Control Register (TZSEL)
1479 PWMDAC_disableTripZones(obj->pwmDacHandle[cnt]);
1480
1481 // Initialize the Trip-Zone Control Register (TZCTL)
1482 PWMDAC_setTripZoneState_TZA(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
1483 PWMDAC_setTripZoneState_TZB(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
1484 PWMDAC_setTripZoneState_DCAEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
1485 PWMDAC_setTripZoneState_DCAEVT2(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
1486 PWMDAC_setTripZoneState_DCBEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
1487 }
1488
1489 // since the PWM is configured as an up/down counter, the period register is set to one-half
1490 // of the desired PWM period
1491 PWMDAC_setPeriod(obj->pwmDacHandle[PWMDAC_Number_1],halfPeriod_cycles);
1492 PWMDAC_setPeriod(obj->pwmDacHandle[PWMDAC_Number_2],halfPeriod_cycles);
1493 PWMDAC_setPeriod(obj->pwmDacHandle[PWMDAC_Number_3],halfPeriod_cycles);
1494
1495 return;
1496 } // end of HAL_setupPwmDacs() function
1497
1498
1499 void HAL_setupTimers(HAL_Handle handle,const float_t systemFreq_MHz)
1500 {
1501 HAL_Obj *obj = (HAL_Obj *)handle;
1502 uint32_t timerPeriod_cnts = (uint32_t)(systemFreq_MHz * (float_t)1000000.0) - 1;
1503
1504 // use timer 0 for frequency diagnostics
1505 TIMER_setDecimationFactor(obj->timerHandle[0],0);
1506 TIMER_setEmulationMode(obj->timerHandle[0],TIMER_EmulationMode_RunFree);
1507 TIMER_setPeriod(obj->timerHandle[0],timerPeriod_cnts);
1508 TIMER_setPreScaler(obj->timerHandle[0],0);
1509
1510 // use timer 1 for CPU usage diagnostics
1511 TIMER_setDecimationFactor(obj->timerHandle[1],0);
1512 TIMER_setEmulationMode(obj->timerHandle[1],TIMER_EmulationMode_RunFree);
1513 TIMER_setPeriod(obj->timerHandle[1],timerPeriod_cnts);
1514 TIMER_setPreScaler(obj->timerHandle[1],0);
1515
1516 return;
1517 } // end of HAL_setupTimers() function
1518
1519 // end of file
HAL_setNumVoltageSensors
static void HAL_setNumVoltageSensors(HAL_Handle handle, const uint_least8_t numVoltageSensors)
Sets the number of voltage sensors.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:852
FP_ROUND
#define FP_ROUND
Defines the quantity added to Q15 numbers before converting to integer to round the number...
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:79
hal.h
_HAL_Obj_::offsetHandle_I
OFFSET_Handle offsetHandle_I[3]
the handles for the current offset estimators
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:140
HAL_setupQEP
void HAL_setupQEP(HAL_Handle handle, HAL_QepSelect_e qep)
Sets up the QEP peripheral.
HAL_enableGlobalInts
void HAL_enableGlobalInts(HAL_Handle handle)
Enables global interrupts.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:509
HAL_enableAdcInts
void HAL_enableAdcInts(HAL_Handle handle)
Enables the ADC interrupts.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:478
_HAL_Obj_::offset_V
OFFSET_Obj offset_V[3]
the voltage offset objects
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:144
hal_obj.h
HAL_disableGlobalInts
void HAL_disableGlobalInts(HAL_Handle handle)
Disables global interrupts.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:467
HAL_setCurrentScaleFactor
static void HAL_setCurrentScaleFactor(HAL_Handle handle, const _iq current_sf)
Sets the current scale factor in the hardware abstraction layer.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:824
getOsc2CoarseTrim
#define getOsc2CoarseTrim()
Defines the oscillator 2 coarse trim.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:106
_IQ
#define _IQ(A)
Definition: 32b/IQmathLib.h:319
OSC_POSTRIM_OFF
#define OSC_POSTRIM_OFF
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:85
getOsc1FineTrimSlope
#define getOsc1FineTrimSlope()
The following functions return reference values stored in OTP.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:90
_HAL_Obj_::pwmHandle
PWM_Handle pwmHandle[3]
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:152
HAL_PWM_DBFED_CNT
#define HAL_PWM_DBFED_CNT
Defines the PWM deadband falling edge delay count (system clocks)
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:113
HAL_OscTempComp
void HAL_OscTempComp(HAL_Handle handle)
Executes the oscillator 1 and 2 calibration functions.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:100
getOsc1FineTrimOffset
#define getOsc1FineTrimOffset()
Defines the oscillator 1 fine trim at high temp.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:93
HAL_setOffsetValue
static void HAL_setOffsetValue(HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber, const _iq value)
Sets the initial offset value for offset estimation.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:918
_HAL_Obj_::clkHandle
CLK_Handle clkHandle
the clock handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:132
HAL_setOffsetInitCond
static void HAL_setOffsetInitCond(HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber, const _iq initCond)
Sets the offset initial condition value for offset estimation.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:893
_USER_Params_::systemFreq_MHz
uint_least16_t systemFreq_MHz
Defines the system clock frequency, MHz.
Definition: fast/src/32b/userParams.h:220
_USER_Params_
Defines a structure for the user parameters.
Definition: fast/src/32b/userParams.h:193
_USER_Params_::numCurrentSensors
uint_least8_t numCurrentSensors
Defines the number of current sensors.
Definition: fast/src/32b/userParams.h:204
HAL_AdcCalChanSelect
void HAL_AdcCalChanSelect(HAL_Handle handle, const ADC_SocChanNumber_e chanNumber)
Selects the analog channel used for calibration.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:294
HAL_QepSelect_e
HAL_QepSelect_e
Enumeration for the QEP setup.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:142
getOsc2FineTrimOffset
#define getOsc2FineTrimOffset()
Defines the oscillator 2 fine trim at high temp.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:103
HAL_setupPeripheralClks
void HAL_setupPeripheralClks(HAL_Handle handle)
Sets up the peripheral clocks.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:1164
HAL_Qep_QEP1
Select QEP1.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:144
HAL_setupTimers
void HAL_setupTimers(HAL_Handle handle, const float_t systemFreq_MHz)
Sets up the timers.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:1499
_iq
long _iq
Definition: 32b/IQmathLib.h:223
HAL_osc2Comp
void HAL_osc2Comp(HAL_Handle handle, const int16_t sensorSample)
Executes the oscillator 2 calibration based on input sample.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:193
HAL_setupPll
void HAL_setupPll(HAL_Handle handle, const PLL_ClkFreq_e clkFreq)
Sets up the PLL (Phase Lock Loop)
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:1211
HAL_SensorType_Current
Enumeration for current sensor.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:162
_HAL_Obj_::flashHandle
FLASH_Handle flashHandle
the flash handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:136
_HAL_Obj_::pwmDacHandle
PWMDAC_Handle pwmDacHandle[3]
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:154
HAL_setupGpios
void HAL_setupGpios(HAL_Handle handle)
Sets up the GPIO (General Purpose I/O) pins.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:952
HAL_setOffsetBeta_lp_pu
static void HAL_setOffsetBeta_lp_pu(HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber, const _iq beta_lp_pu)
Sets the value used to set the low pass filter pole for offset estimation.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:868
HAL_setupFlash
void HAL_setupFlash(HAL_Handle handle)
Sets up the FLASH.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:931
HAL_enablePwmInt
void HAL_enablePwmInt(HAL_Handle handle)
Enables the PWM interrupt.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:520
HAL_setupClks
void HAL_setupClks(HAL_Handle handle)
Sets up the clocks.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:901
HAL_PWM_DBRED_CNT
#define HAL_PWM_DBRED_CNT
Defines the PWM deadband rising edge delay count (system clocks)
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:118
HAL_setupFaults
void HAL_setupFaults(HAL_Handle handle)
Configures the fault protection logic.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:539
HAL_setVoltageScaleFactor
static void HAL_setVoltageScaleFactor(HAL_Handle handle, const _iq voltage_sf)
Sets the voltage scale factor in the hardware abstraction layer.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:941
_IQ12mpy
#define _IQ12mpy(A, B)
Definition: 32b/IQmathLib.h:828
HAL_Handle
struct _HAL_Obj_ * HAL_Handle
Defines the HAL handle.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:189
HAL_osc1Comp
void HAL_osc1Comp(HAL_Handle handle, const int16_t sensorSample)
Executes the oscillator 1 calibration based on input sample.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:166
_USER_Params_::voltage_sf
float_t voltage_sf
Defines the voltage scale factor for the system.
Definition: fast/src/32b/userParams.h:223
usDelay
void usDelay(const uint_least32_t delay_usec)
Provides a prescribes micro-second delay.
_USER_Params_::numVoltageSensors
uint_least8_t numVoltageSensors
Defines the number of voltage sensors.
Definition: fast/src/32b/userParams.h:205
HAL_setupPwms
void HAL_setupPwms(HAL_Handle handle, const float_t systemFreq_MHz, const float_t pwmPeriod_usec, const uint_least16_t numPwmTicksPerIsrTick)
Sets up the PWMs (Pulse Width Modulators)
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:1260
HAL_setupPie
void HAL_setupPie(HAL_Handle handle)
Sets up the PIE (Peripheral Interrupt Expansion)
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:1143
HAL_enableDebugInt
void HAL_enableDebugInt(HAL_Handle handle)
Enables the debug interrupt.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:498
_USER_Params_::offsetPole_rps
float_t offsetPole_rps
Defines the pole location for the voltage and current offset estimation, rad/s.
Definition: fast/src/32b/userParams.h:207
getRefTempOffset
#define getRefTempOffset()
Defines the ADC reading of temperature sensor at reference temperature for compensation.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:109
HAL_setNumCurrentSensors
static void HAL_setNumCurrentSensors(HAL_Handle handle, const uint_least8_t numCurrentSensors)
Sets the number of current sensors.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:838
_USER_Params_::pwmPeriod_usec
float_t pwmPeriod_usec
Defines the Pulse Width Modulation (PWM) period, usec.
Definition: fast/src/32b/userParams.h:222
getOsc1CoarseTrim
#define getOsc1CoarseTrim()
Defines the oscillator 1 coarse trim.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:96
HAL_getNumVoltageSensors
static uint_least8_t HAL_getNumVoltageSensors(HAL_Handle handle)
Gets the number of voltage sensors.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:397
HAL_getNumCurrentSensors
static uint_least8_t HAL_getNumCurrentSensors(HAL_Handle handle)
Gets the number of current sensors.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:385
_USER_Params_::current_sf
float_t current_sf
Defines the current scale factor for the system.
Definition: fast/src/32b/userParams.h:224
_HAL_Obj_::wdogHandle
WDOG_Handle wdogHandle
the watchdog handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:160
HAL_AdcOffsetSelfCal
void HAL_AdcOffsetSelfCal(HAL_Handle handle)
Executes the offset calibration of the ADC.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:246
FP_SCALE
#define FP_SCALE
Defines used in oscillator calibration functions.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:76
_HAL_Obj_::oscHandle
OSC_Handle oscHandle
the oscillator handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:146
_HAL_Obj_::adcHandle
ADC_Handle adcHandle
the ADC handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:130
HAL_init
HAL_Handle HAL_init(void *pMemory, const size_t numBytes)
Initializes the hardware abstraction layer (HAL) object.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:571
_HAL_Obj_::pieHandle
PIE_Handle pieHandle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:148
_HAL_Obj_::cpuHandle
CPU_Handle cpuHandle
the CPU handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:134
_USER_Params_::ctrlFreq_Hz
uint_least32_t ctrlFreq_Hz
Defines the controller frequency, Hz.
Definition: fast/src/32b/userParams.h:253
HAL_cal
void HAL_cal(HAL_Handle handle)
Executes calibration routines.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:67
hal
HAL_Obj hal
Defines the HAL object.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:61
_HAL_Obj_::timerHandle
TIMER_Handle timerHandle[3]
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:158
HAL_SensorType_Voltage
Enumeration for voltage sensor.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:163
HAL_AdcCalConversion
uint16_t HAL_AdcCalConversion(HAL_Handle handle)
Reads the converted value from the selected calibration channel.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:319
HAL_setupPwmDacs
void HAL_setupPwmDacs(HAL_Handle handle)
Sets up the PWM DACs (Pulse Width Modulator Digital to Analof Converters)
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:1426
HAL_setBias
static void HAL_setBias(HAL_Handle handle, const HAL_SensorType_e sensorType, uint_least8_t sensorNumber, const _iq bias)
Sets the ADC bias value.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:736
HAL_getOscTrimValue
uint16_t HAL_getOscTrimValue(int16_t coarse, int16_t fine)
Converts coarse and fine oscillator trim values into a single 16bit word value.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:220
_HAL_Obj_::offset_I
OFFSET_Obj offset_I[3]
the current offset objects
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:141
_HAL_Obj_::pwrHandle
PWR_Handle pwrHandle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:156
OFFSET_init
OFFSET_Handle OFFSET_init(void *pMemory, const size_t numBytes)
Initializes the offset.
Definition: 32b/offset.c:70
_HAL_Obj_::pllHandle
PLL_Handle pllHandle
the PLL handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:150
HAL_setParams
void HAL_setParams(HAL_Handle handle, const USER_Params *pUserParams)
Sets the hardware abstraction layer parameters.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:674
HAL_setupAdcs
void HAL_setupAdcs(HAL_Handle handle)
Sets up the ADCs (Analog to Digital Converters)
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:808
HAL_disableWdog
void HAL_disableWdog(HAL_Handle halHandle)
Disables the watch dog.
Definition: hvkit_rev1p1/f28x/f2806x/src/hal.c:455
_HAL_Obj_::offsetHandle_V
OFFSET_Handle offsetHandle_V[3]
the handles for the voltage offset estimators
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:143
float_t
float float_t
Defines the portable data type for 32 bit, signed floating-point data.
Definition: types.h:121
_HAL_Obj_
Defines the hardware abstraction layer (HAL) data.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:128
_HAL_Obj_::gpioHandle
GPIO_Handle gpioHandle
the GPIO handle
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal_obj.h:138
OSC_POSTRIM
#define OSC_POSTRIM
Defines the amount to add to Q16.15 fixed point number to shift from a fine trim range of...
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:84
getOsc2FineTrimSlope
#define getOsc2FineTrimSlope()
Defines the slope used to compensate oscillator 2 (fine trim steps / ADC code). Stored.
Definition: boostxldrv8301_revB/f28x/f2806x/src/hal.h:100